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using Ackermann's formula.\n\n\n```r\nacker(a, b, p)\n```\n\n## Arguments\n\n- `a`: State-matrix of a state-space system\n- `b`: Input-matrix of a state-space system\n- `p`: closed loop poles\n\n\n\n## Details\n\nK <- ACKER(A,B,P) calculates the feedback gain matrix K such that the single input system . x <- Ax + Bu\n\nwith a feedback law of u <- -Kx has closed loop poles at the values specified in vector P, i.e., P <- eigen(A - B * K).\n\nThis method is NOT numerically stable and a warning message is printed if the nonzero closed loop poles are greater than 10\n\nin P.\n\n## Examples\n\n```r\nF <- rbind(c(0,1),c(0,0))\nG <- rbind(0,1)\nH <- cbind(1,0);\nJ <- 0\nt <- 1\nsys <- ss(F,G, H,J)\nA <- c2d(sys,t);\nj <- sqrt(as.complex(-1));\npc <- rbind(0.78+0.18*j, 0.78-0.18*j)\nK <- acker(A$A, A$B, pc)\n```"}]}]}]}]}]}],["$","div",null,{"className":"lg:w-1/3 lg:border-l px-1 sm:px-8 pt-8 sm:pt-1","children":[["$","div",null,{"className":"mb-8 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